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Towards Endowing Collaborative Robots with Fast Learning for Minimizing Tutors’ Demonstrations: What and When to Do?

  • Ana Cunha
  • Flora Ferreira
  • Wolfram Erlhagen
  • Emanuel Sousa
  • Luís Louro
  • Paulo Vicente
  • Sérgio Monteiro
  • Estela BichoEmail author
Conference paper
Part of the Advances in Intelligent Systems and Computing book series (AISC, volume 1092)

Abstract

Programming by demonstration allows non-experts in robot programming to train the robots in an intuitive manner. However, this learning paradigm requires multiple demonstrations of the same task, which can be time-consuming and annoying for the human tutor. To overcome this limitation, we propose a fast learning system – based on neural dynamics – that permits collaborative robots to memorize sequential information from single task demonstrations by a human-tutor. Important, the learning system allows not only to memorize long sequences of sub-goals in a task but also the time interval between them. We implement this learning system in Sawyer (a collaborative robot from Rethink Robotics) and test it in a construction task, where the robot observes several human-tutors with different preferences on the sequential order to perform the task and different behavioral time scales. After learning, memory recall (of what and when to do a sub-task) allows the robot to instruct inexperienced human workers, in a particular human-centered task scenario.

Keywords

Industrial robotics Assembly tasks Learning from demonstration Sequence order and timing Rapid learning Dynamic Neural Fields 

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Copyright information

© Springer Nature Switzerland AG 2020

Authors and Affiliations

  • Ana Cunha
    • 1
    • 3
  • Flora Ferreira
    • 2
  • Wolfram Erlhagen
    • 2
  • Emanuel Sousa
    • 1
  • Luís Louro
    • 3
  • Paulo Vicente
    • 3
  • Sérgio Monteiro
    • 3
  • Estela Bicho
    • 3
    Email author
  1. 1.Center for Computer GraphicsUniversity of MinhoGuimaraesPortugal
  2. 2.Department of Mathematics and Applications, Center of MathematicsUniversity of MinhoGuimaraesPortugal
  3. 3.Department Industrial ElectronicsUniversity of MinhoGuimaraesPortugal

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